10,307 research outputs found
Intrinsic Reduced Attitude Formation with Ring Inter-Agent Graph
This paper investigates the reduced attitude formation control problem for a
group of rigid-body agents using feedback based on relative attitude
information. Under both undirected and directed cycle graph topologies, it is
shown that reversing the sign of a classic consensus protocol yields
asymptotical convergence to formations whose shape depends on the parity of the
group size. Specifically, in the case of even parity the reduced attitudes
converge asymptotically to a pair of antipodal points and distribute
equidistantly on a great circle in the case of odd parity. Moreover, when the
inter-agent graph is an undirected ring, the desired formation is shown to be
achieved from almost all initial states
Opinion dynamics: models, extensions and external effects
Recently, social phenomena have received a lot of attention not only from
social scientists, but also from physicists, mathematicians and computer
scientists, in the emerging interdisciplinary field of complex system science.
Opinion dynamics is one of the processes studied, since opinions are the
drivers of human behaviour, and play a crucial role in many global challenges
that our complex world and societies are facing: global financial crises,
global pandemics, growth of cities, urbanisation and migration patterns, and
last but not least important, climate change and environmental sustainability
and protection. Opinion formation is a complex process affected by the
interplay of different elements, including the individual predisposition, the
influence of positive and negative peer interaction (social networks playing a
crucial role in this respect), the information each individual is exposed to,
and many others. Several models inspired from those in use in physics have been
developed to encompass many of these elements, and to allow for the
identification of the mechanisms involved in the opinion formation process and
the understanding of their role, with the practical aim of simulating opinion
formation and spreading under various conditions. These modelling schemes range
from binary simple models such as the voter model, to multi-dimensional
continuous approaches. Here, we provide a review of recent methods, focusing on
models employing both peer interaction and external information, and
emphasising the role that less studied mechanisms, such as disagreement, has in
driving the opinion dynamics. [...]Comment: 42 pages, 6 figure
Complex networks analysis in socioeconomic models
This chapter aims at reviewing complex networks models and methods that were
either developed for or applied to socioeconomic issues, and pertinent to the
theme of New Economic Geography. After an introduction to the foundations of
the field of complex networks, the present summary adds insights on the
statistical mechanical approach, and on the most relevant computational aspects
for the treatment of these systems. As the most frequently used model for
interacting agent-based systems, a brief description of the statistical
mechanics of the classical Ising model on regular lattices, together with
recent extensions of the same model on small-world Watts-Strogatz and
scale-free Albert-Barabasi complex networks is included. Other sections of the
chapter are devoted to applications of complex networks to economics, finance,
spreading of innovations, and regional trade and developments. The chapter also
reviews results involving applications of complex networks to other relevant
socioeconomic issues, including results for opinion and citation networks.
Finally, some avenues for future research are introduced before summarizing the
main conclusions of the chapter.Comment: 39 pages, 185 references, (not final version of) a chapter prepared
for Complexity and Geographical Economics - Topics and Tools, P.
Commendatore, S.S. Kayam and I. Kubin Eds. (Springer, to be published
Robust synchronization of heterogeneous robot swarms on the sphere
Synchronization on the sphere is important to certain control applications in
swarm robotics. Of recent interest is the Lohe model, which generalizes the
Kuramoto model from the circle to the sphere. The Lohe model is mainly studied
in mathematical physics as a toy model of quantum synchronization. The model
makes few assumptions, wherefore it is well-suited to represent a swarm.
Previous work on this model has focused on the cases of complete and acyclic
networks or the homogeneous case where all oscillator frequencies are equal.
This paper concerns the case of heterogeneous oscillators connected by a
non-trivial network. We show that any undesired equilibrium is exponentially
unstable if the frequencies satisfy a given bound. This property can also be
interpreted as a robustness result for small model perturbations of the
homogeneous case with zero frequencies. As such, the Lohe model is a good
choice for control applications in swarm robotics
Almost Global Consensus on the n-Sphere
This paper establishes novel results regarding the global convergence properties of a large class of consensus protocols for multi-agent systems that evolve in continuous time on the n-dimensional unit sphere or n-sphere. For any connected, undirected graph and all n 2 N\{1}, each protocol in said class is shown to yield almost global consensus. The feedback laws are negative gradients of Lyapunov functions and one instance generates the canonical intrinsic gradient descent protocol. This convergence result sheds new light on the general problem of consensus on Riemannian manifolds; the n-sphere for n 2 N\{1} differs from the circle and SO(3) where the corresponding
protocols fail to generate almost global consensus. Moreover, we derive a novel consensus protocol on SO(3) by combining two almost globally convergent protocols on the n-sphere for n in {1, 2}. Theoretical and simulation results suggest that the combined protocol yields almost global consensus on SO(3)
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